7e4edcc8d5
MSGQ refactor: cleanup outstanding issues ( #32685 )
...
* Rm sim dockerfile from bad merge
* Add watch back
* Fix watch3 compilation
old-commit-hash: 1b2bd205b8
1 year ago
05ed3d8c15
Restructure msgq ( #32652 )
...
* Update ref
* Compiles
* compiles
* Refactor rest of libs
* import all
* small fiex
* cleanup import
* Need msgq simlink too
* Add to openpilot docker too
* try repo
* Updates
* Fix lint
* fix docs
* Try blank slate
* Revert "Try blank slate"
This reverts commit f078ce04acacfe115c19e23e86038b01e2b84a6d.
* Maybe scons needs this to clear cache
* fix tests
* Disable test for now
* Update SConstruct
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Fix whitespace
* Write skip normal
* small fixes
* add test path
* Revert repo
* linting
* whitespace
* Bump msgq
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: e70dc90a45
1 year ago
efc7075f26
LongitudinalMpc: use DT_MDL ( #32532 )
...
bad magic number
old-commit-hash: 6ecb710305
1 year ago
0f1f246bc0
scons: fix race condition with opendbc ( #31621 )
...
* fix race condition
* add to release
* fix for now
* bump
old-commit-hash: 7cf2b28b78
2 years ago
59eb2988de
swaglog.py goes in common/ ( #30631 )
...
* swaglog.py goes in common/
* all of these go in release
* we'll even include the pyx
old-commit-hash: 35f819c823
2 years ago
3b91610c0b
Precommit: ensure executable bit is set ( #29784 )
...
* precommit ensure executable
* exclude tinygrad
* bump submodules
* exclude tinygrad globally
old-commit-hash: 4e69937d0d
2 years ago
952ca664fa
Update Python packages and pre-commit hooks ( #29739 )
...
* Update Python packages and pre-commit hooks
* fix linter
---------
Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>
old-commit-hash: 9719b22761
2 years ago
b580f19448
scons: fix multithreaded builds ( #29716 )
...
* common_python export
* Single scons call
* transformations_python
old-commit-hash: d138a358eb
2 years ago
48d933970b
mpc_lib: fix dependencies ( #29621 )
...
* Remove common dependency of lateral mpc
* Replace cereal dir dependency with cereal lib in long mpc
* Add missing files to generated sources
* Typo fix
* messaging_python dep
old-commit-hash: 517499294a
2 years ago
7b4400f2c6
scons: remove missing MPC headers ( #29485 )
...
* remove invalid files
* Update selfdrive/controls/lib/lateral_mpc_lib/SConscript
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Apply suggestions from code review
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 55cca6ed26
2 years ago
16ec56398c
add openpilot prefix to imports ( #29498 )
...
* add openpilot prefix to imports
* more
* more
* fix docs
* fix linter
* bump submodules
* fix patched tests
* update dynamic imports
* debug
* Revert "debug"
This reverts commit db5e13b991a9626f95b6
2 years ago
51634f52dc
replace custom clock helpers with time module ( #29499 )
...
* replace custom clock stuff wtih time module
* fix double
* fix release
* bump cereal
* update type
* fix one more
old-commit-hash: d61f86d339
2 years ago
d487c0501f
Ruff: enable most of bugbear ( #29320 )
...
* added mutable default args
* most of the Bs
* add comment about lrucache
old-commit-hash: 62c1e65924
2 years ago
3ee0786de3
CI: Pylint to ruff ( #29294 )
...
* pylint to riff
* pylint to riff
* pylint to riff
* revert more
* undo exclude removal
* exclude tinygrad
* set line length
* pylint exclusions to ruff
* same excludes as old linter
* fix tools QA
* remove unrequired check
* revert linting third_party
* ignore e402
old-commit-hash: 7fdd9fc37c
2 years ago
7b677910df
Linter: Fix >160 line length test ( #29287 )
...
* test
* fix line length
* fix line length
* fix file size
* revert poetry
* cleanup for PR
old-commit-hash: cf64b27168
2 years ago
edc31db6df
aarch64: ubuntu build support ( #29171 )
...
* Add support for aarch64 pc linux
* Add new libyuv path to release files
* Add libyuv's x86_64 lib dir
* Move left-over platform specific dirs from files_common
* Remove libyuv/lib directory (duplicate)
* Fix mpc Sconscripts
* Remove acados lib path from mpc sources
* Fix typo
* Add watch3 exec on aarch64
old-commit-hash: c640429406
2 years ago
de51cfd9e5
controls: use common car interface acceleration limits ( #29184 )
...
* Duplicate Accel param
using interfaces accel param
* revert brand accel value
* import error
* sort
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: a61df2bdde
2 years ago
06125f1309
Test scons multithreaded random build ( #29082 )
...
* random build
* name
* 2 pass
* clean after
* fail on this
* fix deps
* format
* var
* try without lfs
old-commit-hash: 97eec45d42
2 years ago
8a48732784
radard: no clustering ( #29010 )
...
* First commit
* cleanup
* Update ref
* Doesnt deserve two files
* cleanup radard
old-commit-hash: ca699e3989
2 years ago
05181ed6b1
long_mpc: clean up get_T_FOLLOW() usage ( #29033 )
...
old-commit-hash: 7a5dbe6132
2 years ago
075dc34240
Test and fix cruise speed all personalities ( #28658 )
...
* Fix cruise speed in non-standard mode
* Test all personalities
* Test only critical speeds
* 35ms max
old-commit-hash: ae3681f2bb
2 years ago
36aa81cdc3
Driving Personality setting (also changes follow distance) ( #24742 )
...
* Skeleton
* Adjustable follow parameter
* fix rebase
* long planner
* typo
* Add ui toggle
* Fix icon
* Improve text
* Better toggle position
* Im a UX engineer now
* add param reader
* CHange jerk to have same crash test performance
* Try reading param
* Unused comment
* translate ui text
* std stoi
* Parametrized buttons
* Empty strings are ints
* Move to generic
* Update translations
* Fix translation diffs
* Release notes
* update refs
* tweaks
* Misc fixes
* No param is standard
old-commit-hash: 205c900742
2 years ago
73561f01e0
Expand lateral MPC to 10s ( #27343 )
...
* 10s lat
* Full length MPC
* redfine N
* Leave controls the same for now
* Updates
* use long plan in lat plan
* interp plan
* add new interp
* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/
* expand to 10s
* revert this
* fix linter
* Update sconscripts
* fix test
* fix test
* fix test
* Revert "Update sconscripts"
This reverts commit 6e23c69dce04fe6c4ec7
3 years ago
f941060caa
Longitudinal tests: test forceDecel ( #26765 )
...
* test with forceDecel
* test all combos
* fix
* fix
* fix
* ...
* remove print
* clean up
* just set cruise to 0
* update ref commit
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
old-commit-hash: b45dda2d0a
3 years ago
b3e47c691b
move all third party stuff into third_party/ ( #26853 )
...
* mv fastcluster
* move msm_kgsl.h
* camerad include
* update path
* mv pyextra
* fix tici build
* add acados_template to release build
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: cd8e03d53e
3 years ago
7d5a2309a7
long_mpc: fix e2e source condition ( #26546 )
...
* fix long_mpc source param
* rm print
* add back space for formatting
old-commit-hash: ded66e6307
3 years ago
dfd47a5f4d
Add force decel to e2e long ( #26448 )
...
* add force decel to e2e
* Update longitudinal_planner.py
old-commit-hash: f23296bc87
3 years ago
f10cccb318
FCW: less false positives ( #26366 )
...
* Less FP for FCW
* enable fcw for e2e long
old-commit-hash: 253e5d7f9d
3 years ago
742310271b
Long control: add a_change cost in e2e mode ( #26237 )
...
Add e2e cost
old-commit-hash: dcde942d9f
3 years ago
a8ec6f4cfd
Rocket Launcher Model ( #25963 )
...
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* tinygrad: cleanup gather
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700
* empty commit for tests
* bump tinygrad
* dont use tinygrad matmul for now
* bump tinygrad
* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* increase steer rate cost
* Revert "increase steer rate cost"
This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.
* fork tinygrad
* empty commit for tests
* basics
* Kinda works
* new lat
* new tuning
* Move LATMPCN so scons compiles
* Update long weights
* Add tinygrad optim
* Update model ref
* update weights
* Update ref
* Try
* Error message for field ignore
* update model regf
* ref commit
* Fix onnx test
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
old-commit-hash: cb0b7375b7
3 years ago
f25d434a01
Planner cleanup ( #25969 )
...
old-commit-hash: e5d2c3ce7a
3 years ago
f6700cb7ba
remove blank whitespace ( #25921 )
...
old-commit-hash: 7df0e3efcf
3 years ago
10bc36ae58
Minor ACC fixes ( #25911 )
...
* Change cruise accel limits
* Long tuning script looks good
* Cap cruise slowdown aggression in e2e mode
* Revert atau change
* Cleanup
* Update ref
* fix ref
old-commit-hash: 1007df874f
3 years ago
0b87a4ddb1
More conservative lead policy in e2e long mode ( #25684 )
...
* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
old-commit-hash: 7899fb79c1
3 years ago
0cccf195f3
Add e2e long toggle ( #25638 )
...
* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
old-commit-hash: faff2b8950
3 years ago
4b8547c7a4
Support e2e long in longitudinal planner ( #25636 )
...
* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
old-commit-hash: e1b7a37a1f
3 years ago
c4dcf67acc
Long e2e planner: better xva weights ( #24893 )
...
better long xva weights
old-commit-hash: 2c877ce490
3 years ago
3c48bc47b7
Move a bunch of stuff to system/ part 3 ( #24829 )
...
* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
old-commit-hash: 0fce5d9045
3 years ago
8823b9e4a5
longitudinal_mpc: Compute forward distance from velocity ( #24328 )
...
* add vel integ as x in e2e long mpc
* add comment
old-commit-hash: 1a9f5d29d4
4 years ago
5a9644261f
remove comma two support ( #24248 )
...
* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
old-commit-hash: 5c48e7bc86
4 years ago
059dbf57e7
longitudinal MPC: use reset() function instead of recreating the solver in ( #24091 )
...
* scons: add acados_template as dependency for lat and long mpc
* long MPC: use acados reset instead of recreating the solver
* long MPC: print timings and reset commented
* update acados x86_64
* update acados include folder
* update acados Python interface
* update acados reference commit to latest acados/master
* update x86 libs
* update comma two
* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
* update comma two
* update comma three
* update x86
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: a9bac5acf8
4 years ago
479ac5753c
longitudinal MPC: add MAX_T in T_IDXS_LST ( #23960 )
...
* longitudinal MPC: add MAX_T in T_IDXS_LST
* update refs
Co-authored-by: KexianShen <shenkexian@gmail.com>
old-commit-hash: f1aab78d08
4 years ago
3bd71500bd
Upstreamed and update acados ( #23927 )
...
* change acados version to finalized PR https://github.com/acados/acados/pull/791
* acados: update include and x86_64 build
* acados: update pyextra
* adapt mpc files to updated acados
* acados buid: clear acados_template and include dir before updating
* update acados again
* acados MPC: only generate solver, building is done via scons
* update acados to latest acados/master
* c3 libs
* c2 libs
* acados scons files: add acados build script as a dependency
* acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common
* update acados
* adapts long & lat MPC file
* update acados reference commit to acados/master
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: d653dd843a
4 years ago
0d5d9a43d3
Longitudinal MPC set qp tolerance to 1e-3 ( #23899 )
...
* initialize solverExecutionTime longitudinal_planner
* test_onroad: improve timing evaluation
* longitudinal MPC: set qp_tol to 1e-3
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: ab371f888a
4 years ago
aa549592f7
remove trivial terminal constraint and associated CasADi generated functions ( #23898 )
...
* remove trivial terminal constraint and associated CasADi generated functions
* Update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: 1801baba68
4 years ago
baab5d7a7b
Cython acados and minor ( #23835 )
...
* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: d09dffb7cd
4 years ago
dc16307917
longitudinal planner: disable change cost when stopped. not engaged or gas pressed ( #23639 )
...
* disable change cost completely on standstill and gas press
* cleanup
* set accel to zero
* clean up logic around standstill
* update ref
old-commit-hash: 428d412c1f
4 years ago
dce057d29f
Log MPC solver time ( #23566 )
...
* add solve time to plan output
* add to process replay ignore list
* print in CI
old-commit-hash: f76328b426
4 years ago
b500034b8d
LongitudinalMpc: Remove class accel_limit_arr ( #23295 )
...
* remove class accel_limit_arr
remove class accel_limit_arr
* make it static
* only set static parameters once
* just use existing function
style
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 9cb0ebe37d
4 years ago
d5bf8e0e65
LongitudinalMpc: minor clean up ( #23296 )
...
* correct order
* formatting
* Revert "formatting"
This reverts commit 481c390f405387806400
4 years ago
Harald Schäfer
Shane Smiskol
Justin Newberry
Adeeb Shihadeh
Kacper Rączy
Dean Lee
Lee Jong Mun
Maxime Desroches
eFini
YassineYousfi
Vivek Aithal
Jonathan Frey
Jonathan Frey
Willem Melching